added python interface

scripts/example_gripper_control.py

@@ -0,0 +1,56 @@
+import rospy
+
+from sas_robot_driver_franka import FrankaGripperInterface
+
+
+def main_loop():
+    rate = rospy.Rate(10)  # 10 Hz
+    iteration_ = 0
+
+    hand1 = FrankaGripperInterface("/franka_hand_1")
+
+    while not hand1.is_enabled():
+        rospy.loginfo("Waiting for gripper to be enabled...")
+        rate.sleep()
+    rospy.loginfo("Gripper enabled!")
+
+    rate = rospy.Rate(2)  # 0.5 Hz
+
+    while not rospy.is_shutdown():
+        rospy.loginfo("Main loop running...")
+
+        # Get the temperature of the gripper
+        temperature = hand1.get_temperature()
+        rospy.loginfo(f"Temperature: {temperature}")
+        max_width = hand1.get_max_width()
+        rospy.loginfo(f"Max width: {max_width}")
+        width = hand1.get_width()
+        rospy.loginfo(f"Width: {width}")
+        is_grasped = hand1.is_grasped()
+        rospy.loginfo(f"Is grasped: {is_grasped}")
+        is_moving = hand1.is_moving()
+        rospy.loginfo(f"Is moving: {is_moving}")
+        is_grasping = hand1.is_grasping()
+        rospy.loginfo(f"Is grasping: {is_grasping}")
+        rospy.logwarn("calling move(0.01)")
+        if not hand1.is_busy():
+            hand1.grasp(0.01)
+        else:
+            rospy.logwarn("Gripper is busy. Waiting...")
+        result_ready = hand1.is_done()
+        if not result_ready:
+            rospy.loginfo("Waiting for gripper to finish moving...")
+        else:
+            result = hand1.get_result()
+            rospy.loginfo(f"Result: {result}")
+
+
+        # Check if there is a response in the queue
+
+        iteration_ += 1
+        rate.sleep()
+
+
+if __name__ == "__main__":
+    rospy.init_node("example_gripper_control_node")
+    main_loop()